{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import CommonFunctions as Cf\n",
    "import matplotlib.pyplot as plt\n",
    "import QuadrotorFlyModel as Qfm\n",
    "import MemoryStore\n",
    "D2R = Cf.D2R"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "x = np.array([[1,3,5], [3,5,7],[6,7,9]])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Quadrotor structure type StructureType.quad_x\n",
      "Quadrotor get reward: 0.07326440885809381\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 3 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "uavPara = Qfm.QuadParas(structure_type=Qfm.StructureType.quad_x)\n",
    "simPara = Qfm.QuadSimOpt(init_mode=Qfm.SimInitType.fixed, enable_sensor_sys=False,\n",
    "                     init_att=np.array([10., -10., 30]), init_pos=np.array([5, -5, 0]))\n",
    "quad1 = Qfm.QuadModel(uavPara, simPara)\n",
    "record = MemoryStore.DataRecord()\n",
    "record.clear()\n",
    "step_cnt = 0\n",
    "for i in range(1000):\n",
    "    ref = np.array([0., 0., 1., 0.])\n",
    "    stateTemp = quad1.observe()\n",
    "    action2, oil = quad1.get_controller_pid(stateTemp, ref)\n",
    "#     print('action: ', action2)\n",
    "    action2 = np.clip(action2, 0.1, 0.9)\n",
    "    quad1.step(action2)\n",
    "    record.buffer_append((stateTemp, action2))\n",
    "    step_cnt = step_cnt + 1\n",
    "record.episode_append()\n",
    "\n",
    "print('Quadrotor structure type', quad1.uavPara.structureType)\n",
    "# quad1.reset_states()\n",
    "print('Quadrotor get reward:', quad1.get_reward())\n",
    "data = record.get_episode_buffer()\n",
    "bs = data[0]\n",
    "ba = data[1]\n",
    "t = range(0, record.count)\n",
    "# mpl.style.use('seaborn')\n",
    "fig1 = plt.figure(1)\n",
    "plt.clf()\n",
    "plt.subplot(3, 1, 1)\n",
    "plt.plot(t, bs[t, 6] / D2R, label='roll')\n",
    "plt.plot(t, bs[t, 7] / D2R, label='pitch')\n",
    "plt.plot(t, bs[t, 8] / D2R, label='yaw')\n",
    "plt.ylabel('Attitude $(\\circ)$', fontsize=15)\n",
    "plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))\n",
    "plt.subplot(3, 1, 2)\n",
    "plt.plot(t, bs[t, 0], label='x')\n",
    "plt.plot(t, bs[t, 1], label='y')\n",
    "plt.ylabel('Position (m)', fontsize=15)\n",
    "plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))\n",
    "plt.subplot(3, 1, 3)\n",
    "plt.plot(t, bs[t, 2], label='z')\n",
    "plt.ylabel('Altitude (m)', fontsize=15)\n",
    "plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "v_img = 400\n",
    "h_img = 400\n",
    "ax_img_arr = np.zeros([v_img * h_img, 3])\n",
    "for i in range(v_img):\n",
    "    for j in range(h_img):\n",
    "        ax_img_arr[i*h_img + j, :] = [i, j, 1]\n",
    "ax_img = ax_img_arr.reshape([v_img, h_img, 3])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 单位是mm,\n",
    "ksx = 4 / v_img\n",
    "ksy = 4 / h_img\n",
    "sx0 = 2\n",
    "sy0 = 2\n",
    "# 焦距，单位mm\n",
    "focal = 2.36\n",
    "\n",
    "att_cam = bs[100, 6:9]\n",
    "# z的位置单位是m\n",
    "pos = bs[100, 0:3] * 1000\n",
    "\n",
    "m_img2sensor = np.array([[ksx, 0, sx0],\n",
    "                     [0, -ksy, -sy0],\n",
    "                     [0, 0, 1]])\n",
    "m_sensor2cam = np.array([[pos[2] / focal, 0, 0],\n",
    "                        [0, pos[2] / focal, 0],\n",
    "                         [0, 0, 1]])\n",
    "m_cam2world = Cf.get_rotation_matrix(att_cam)\n",
    "m_cam2world[0:2, 2] = pos[0:2]\n",
    "m_cam2world[2, :] = np.array([0, 0, 1])\n",
    "m_trans = m_cam2world.dot(m_sensor2cam.dot(m_img2sensor))\n",
    "ax_real = m_trans.dot(ax_img_arr.transpose()).transpose()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "metadata": {},
   "outputs": [],
   "source": [
    "img_res = np.zeros([v_img, h_img, 3], dtype=np.uint8)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "metadata": {},
   "outputs": [],
   "source": [
    "for i in range(v_img):\n",
    "    for j in range(h_img):\n",
    "        img_res[i, j, :] = im[int(ax_real[i*h_img + j, 0]), int(ax_real[i*h_img + j, 1]+10000), :]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x25c065a6cf8>"
      ]
     },
     "execution_count": 51,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "img3 = cv2.cvtColor(img_res, cv2.COLOR_BGR2RGB)\n",
    "plt.imshow(img3 / 255)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 47,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[ 9.07997654e-01,  2.37344321e-01,  4.48104348e+03],\n",
       "       [ 2.59496467e-01, -9.24790979e-01, -5.97606348e+03],\n",
       "       [ 0.00000000e+00,  0.00000000e+00,  1.00000000e+00]])"
      ]
     },
     "execution_count": 47,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "m_cam2world.dot(m_sensor2cam.dot(m_img2sensor))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import cv2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "im = cv2.imread('Data/groundImgWood.jpg')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "import psutil\n",
    "import os"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "内存使用： 1328685056\n"
     ]
    }
   ],
   "source": [
    "print(u'内存使用：',psutil.Process(os.getpid()).memory_info().rss)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [],
   "source": [
    "ax_img_real = ax_real.reshape([v_img, h_img, 3])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.13647458, -0.1990263 ,  0.27836947])"
      ]
     },
     "execution_count": 55,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "att_cam"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.8"
  },
  "toc": {
   "base_numbering": 1,
   "nav_menu": {},
   "number_sections": true,
   "sideBar": true,
   "skip_h1_title": false,
   "title_cell": "Table of Contents",
   "title_sidebar": "Contents",
   "toc_cell": false,
   "toc_position": {},
   "toc_section_display": true,
   "toc_window_display": false
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
